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Par2: a Spatial Mechanism for Fast Planar Two-Degree-of-Freedom Pick-and-Place Applications

Olivier Company 1 François Pierrot 1 Sébastien Krut 1 Cédric Baradat 2 Vincent Nabat 2
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper introduces a new two-degree-of-freedom (dof) parallel manipulator producing two translations in the vertical plane. One drawback of existing robots built to realize these dof is their lack of transversal stiffness, another one being their limited ability to provide very high acceleration. Indeed, these architectures cannot be lightweight and stiff at the same time. The proposed parallel architecture is a spatial mechanism which guarantees a good transversal stiffness. It is composed by two actuated kinematic chains, and two passive chains built in the transversal plane. The key feature of this robot comes from the two passive chains which are coupled to create a kinematic constraint: the platform stays in one plane. A stiffness analysis shows that the robot can be lighter and stiffer than a classical 2-dof mechanism. A prototype of this robot is presented and preliminary tests show that accelerations above 400 ms−1 can be achieved while keeping a low tracking error.
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Submitted on : Monday, March 28, 2011 - 4:11:37 PM
Last modification on : Monday, October 11, 2021 - 1:24:04 PM


  • HAL Id : lirmm-00580594, version 1



Olivier Company, François Pierrot, Sébastien Krut, Cédric Baradat, Vincent Nabat. Par2: a Spatial Mechanism for Fast Planar Two-Degree-of-Freedom Pick-and-Place Applications. Meccanica, Springer Verlag, 2011, 46 (1), pp.239-248. ⟨lirmm-00580594⟩



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